EP0403585B1 - Surveying instrument with receiver for a satellite position measurement system and process for operating it - Google Patents

Surveying instrument with receiver for a satellite position measurement system and process for operating it Download PDF

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Publication number
EP0403585B1
EP0403585B1 EP89907139A EP89907139A EP0403585B1 EP 0403585 B1 EP0403585 B1 EP 0403585B1 EP 89907139 A EP89907139 A EP 89907139A EP 89907139 A EP89907139 A EP 89907139A EP 0403585 B1 EP0403585 B1 EP 0403585B1
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EP
European Patent Office
Prior art keywords
receiver
satellite
surveying instrument
measurement
distance
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Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Lifetime
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EP89907139A
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German (de)
French (fr)
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EP0403585A1 (en
Inventor
Hilmar Dr. Ingensand
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Leica Geosystems AG
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Leica Heerbrugg AG
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Priority to AT89907139T priority Critical patent/ATE85703T1/en
Publication of EP0403585A1 publication Critical patent/EP0403585A1/en
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/51—Relative positioning

Definitions

  • the invention relates to a measuring device with receiver for a satellite position measuring system, according to the preamble of claim 1, and a method for its operation.
  • Satellite position measuring systems enable terrestrial position determination with geodetic accuracy.
  • the prerequisite is the use of a receiver matched to the system for field measurements of a mobile device.
  • the receiver is directly equipped with an antenna, the position of which is recognized by the system. Because of the quasi-optical propagation properties of the wave range selected for the transmission system, a usable reception of the satellite signals can only be guaranteed if the receiver antenna is in the direct field of view of several satellites of the system. This requirement is not met for all surveying tasks. Points that are covered by obstacles in the zenith area and are therefore not in the reception area of the satellites have so far not been able to be measured with this system.
  • a measuring device consists of a receiver 1 matched to the satellite position measuring system with a corresponding antenna.
  • the receiver is preferably set up to receive the global positioning system GPS.
  • the device also contains a distance meter 2, preferably an electro-optical distance meter or a distance meter based on the ultrasound principle.
  • An electro-optical distance meter is preferably of the type as described in the patent specification CH 641 308 or CH 644 243.
  • the two modules mentioned, receiver 1 and distance meter 2 are geometrically unambiguously mounted on a plumb rod 3, which has a plumb sensor 4 as an additional device for determining the local physical plumb direction.
  • the distance meter 2 is provided with a sighting device 5, which is arranged coaxially to the optical axis of the distance meter.
  • the sighting device is constructed in such a way that the observer can simultaneously observe the vertical position of the plunger 3 and a targeted point in the field of vision.
  • the sighting device can be equipped with a sensor which reacts to the magnetic field of the earth.
  • the distance meter 2 can preferably be tilted about a horizontal axis H.
  • the extent of the tilting rotation is recorded via an angle encoder or an electronic inclinometer alpha.
  • the plumb baton 3 is preferably telescopic. At its lower end, it has a conventional solder rod tip S.
  • the pole 3 can finally be provided with a length measuring system, preferably a scale M, which allows a determination of the distance h between the tip S and the antenna center A.
  • the distance meter 2 arranged directly under the receiver 1 in the example enables distance measurements to distant points, e.g. to reflectors attached there.
  • point 6 represents such a distant point.
  • the distance measurement can also be carried out according to other contactless methods without using a target reflector.
  • a point 6 to be measured is aimed with the sighting device 5, the vertical position of the device in the sighting device being checked at the same time.
  • the distance meter 2 is tilted about the horizontal axis H, this rotation being detected by the angle encoder or inclinometer alpha. With this help, the measured inclined distance is reduced to the horizon.
  • a measuring unit 1-5 is set up in succession in the vicinity of the point 6 to be measured at at least two different auxiliary points 7, 8 which can be reached by the satellite system. From these auxiliary points, routes 9 and 10 to point 6, which is inaccessible to the satellite system, are determined electro-optically in the example. The arches can then be used to create the Clearly determine the coordinates of the point to be measured. If two measuring units are available, one of them is set up at auxiliary points 7 and 8 and the measurement is carried out in the manner described above.

Abstract

A surveying instrument with receiver for a satellite position measurement system comprises a preferably contactless, tiltable distance measurer (2) combined in a geometrically clearly-defined relative position with the satellite receiver (1). Both components of the instrument are mounted in fixed geometric positions on a plumbing staff (3) or on a measurement stand. A plumbing sensor (4) and a sighting device (5) are also provided. The direction of the plumbing staff and the direction of the measurement beam of the distance measurer can be adjusted. The instrument can be used to determine the co-ordinates of points which cannot be surveyed using conventional satellite position measurement systems.

Description

Die Erfindung betrifft ein Vermessungsgerät mit Empfänger für ein Satelliten-Positionsmess-System, nach dem Oberbegriff des Patentanspruchs 1, sowie ein Verfahren zu dessen Betrieb.The invention relates to a measuring device with receiver for a satellite position measuring system, according to the preamble of claim 1, and a method for its operation.

Satelliten-Positionsmess-Systeme ermöglichen eine terrestrische Positionsbestimmung mit geodätischer Genauigkeit. Voraussetzung ist der Einsatz eines auf das System abgestimmten Empfängers, bei Feldmessungen eines Mobilgerätes. Der Empfänger ist direkt mit einer Antenne ausgerüstet, deren Position mit Hilfe des Systems erkannt wird. Wegen der quasi-optischen Ausbreitungseigenschaften des für das Uebertragungssystem gewählten Wellenbereichs kann ein brauchbarer Empfang der Satellitensignale nur gewährleistet werden, wenn die Empfängerantenne im direkten Sichtbereich mehrerer Satelliten des Systems liegt. Diese Voraussetzung ist nicht für alle Vermessungsaufgaben erfüllt. Punkte, die im Zenitbereich durch Hindernisse abgedeckt sind und damit nicht im Empfangbereich der Satelliten liegen, konnten bisher mit diesem Systems nicht vermessen werden.Satellite position measuring systems enable terrestrial position determination with geodetic accuracy. The prerequisite is the use of a receiver matched to the system for field measurements of a mobile device. The receiver is directly equipped with an antenna, the position of which is recognized by the system. Because of the quasi-optical propagation properties of the wave range selected for the transmission system, a usable reception of the satellite signals can only be guaranteed if the receiver antenna is in the direct field of view of several satellites of the system. This requirement is not met for all surveying tasks. Points that are covered by obstacles in the zenith area and are therefore not in the reception area of the satellites have so far not been able to be measured with this system.

Aus der Druckschrift "Microwave Journal, Band 29, Nr.4, M.R. Stiglitz, The global positioning system, Seiten 34 ff." wird neben den allgemeinen Möglichkeiten der Koordinatenbestimmung mit einem Satelliten-Positionsmeß-System auch eine kombinierte Koordinatenbestimmung mit zwei separat arbeitenden Satelliten-Systemen beschrieben. Die Vermessung bzw. Bestimmung von Punkten, welche sich außerhalb des Satelliten-Empfangsbereich/Sichtbereich befinden, ist in dieser Schrift nicht angegeben. Ferner fehlen Hinweise darauf, wie an sich bekannte geodätische Meßinstrumente mit einem derartigen Satelliten-Positionsmeß -System kombiniert werden können.From the publication "Microwave Journal, Volume 29, No. 4, M.R. Stiglitz, The global positioning system, pages 34 ff." In addition to the general possibilities of coordinate determination with a satellite position measuring system, a combined coordinate determination with two separately working satellite systems is also described. The measurement or determination of points which are outside the satellite reception area / viewing area is not specified in this document. Furthermore, there are no indications of how known geodetic measuring instruments can be combined with such a satellite position measuring system.

Es daher Aufgabe der vorliegenden Erfindung, die Vermessung von Punkten mit Hilfe eines Satelliten-Systems zu ermöglichen, die nicht im direkten Sichtbereich der Satelliten liegen. Diese Aufgabe wird erfindungsgemäß durch die Merkmale des Patentanspruchs 1 gelöst. Vorteilhafte Weiterbildungen der Erfindung sind Gegenstand der Unteransprüche. Ein erfindungsgemäßes Verfahren zum Betrieb des Gerätes ist in Patentanspruch 4 angegeben.It is therefore an object of the present invention to enable the measurement of points with the aid of a satellite system which are not in the direct field of view of the satellites. This object is achieved by the features of claim 1. Advantageous developments of the invention are the subject of the dependent claims. A method according to the invention for operating the device is specified in claim 4.

Durch die dort definierten Maßnahmen wird es möglich, auch solche Punkte koordinatenmäßig zu bestimmen, welche unter Einsatz von Satelliten-Positionsmeß-Systemen bisher nicht vermessen werden konnten. Damit wird z. B. die Feldvermessung wesentlich vereinfacht, da nur noch Geräte für die Vermessung nach dem Satellitensystem mitgeführt werden müssen.The measures defined there make it possible to determine, in terms of coordinates, those points which have so far not been able to be measured using satellite position measuring systems. So that z. B. the field measurement considerably simplified, since only devices for the measurement according to the satellite system have to be carried.

Einzelheiten der Erfindung werden im folgenden anhand schematisch dargestellten Ausführungsbeispielen mit Hilfe der Zeichnungen näher erläutert. Es zeigen:

  • Fig. 1 das Beispiel eines Vermessungsgerätes zur Vermessung von Punkten, die nicht im Empfangsbereich eines Satelliten-Positionsmeß-Systems liegen, und
  • Fig. 2 das Beispiel einer Feldmessung unter Einsatz mindestens eines Gerätes nach Fig. 1, mit zwei Hilfs-Meßpunkten, die im Empfangsbereich eines Satelliten-Positionsmeß-Systems liegen.
Details of the invention are explained below with reference to schematically illustrated embodiments with the help of the drawings. Show it:
  • Fig. 1 shows the example of a measuring device for measuring points that are not in the reception area of a satellite position measuring system, and
  • Fig. 2 shows the example of a field measurement using at least one device according to Fig. 1, with two auxiliary measuring points, which are in the reception area of a satellite position measuring system.

Gemäß Fig. 1 besteht ein erfindungsgemäßes Meßgerät aus einem auf das Satelliten-Positionsmeß-System abgestimmten Empfänger 1 mit entsprechender Antenne. Im Beispiel ist der Empfänger vorzugsweise für den Empfang des Global-Positioning-System GPS eingerichtet. Das Gerät enthält ferner einen Distanzmesser 2, vorzugsweise einen elektrooptischen oder einen auf dem Ultraschallprinzip beruhenden Distanzmesser. Ein elektrooptischer Distanzmesser ist vorzugsweise vom Typ, wie er in der Patentschrift CH 641 308 oder CH 644 243 beschrieben ist. Die beiden erwähnten Module Empfänger 1 und Distanzmesser 2 sind geometrisch eindeutig auf einem Lotstab 3 montiert, der als Zusatzeinrichtung einen Lotsensor 4 zur Bestimmung der lokalen physikalischen Lotrichtung aufweist.1, a measuring device according to the invention consists of a receiver 1 matched to the satellite position measuring system with a corresponding antenna. In the example, the receiver is preferably set up to receive the global positioning system GPS. The device also contains a distance meter 2, preferably an electro-optical distance meter or a distance meter based on the ultrasound principle. An electro-optical distance meter is preferably of the type as described in the patent specification CH 641 308 or CH 644 243. The two modules mentioned, receiver 1 and distance meter 2, are geometrically unambiguously mounted on a plumb rod 3, which has a plumb sensor 4 as an additional device for determining the local physical plumb direction.

Der Distanzmesser 2 ist mit einer Visiereinrichtung 5 versehen, welche koaxial zur optischen Achse des Distanzmessers angeordnet ist. Die Visiereinrichtung ist dergestalt konstruiert, daß der Beobachter gleichzeitig die Vertikalstellung des Lotstabes 3 und einen angezielten Punkt im Sichtfeld beobachten kann. Die Visiereinrichtung kann mit einem auf das Magnetfeld der Erde reagierenden Sensor ausgerüstet sein.The distance meter 2 is provided with a sighting device 5, which is arranged coaxially to the optical axis of the distance meter. The sighting device is constructed in such a way that the observer can simultaneously observe the vertical position of the plunger 3 and a targeted point in the field of vision. The sighting device can be equipped with a sensor which reacts to the magnetic field of the earth.

Vorzugsweise ist der Distanzmesser 2 um eine Horizontalachse H kippbar. Das Maß der Kippdrehung wird über einen Winkelgeber oder einen elektronischen Neigungsmesser alpha erfaßt.The distance meter 2 can preferably be tilted about a horizontal axis H. The extent of the tilting rotation is recorded via an angle encoder or an electronic inclinometer alpha.

Ferner ist der Lotstab 3 vorzugswseise teleskopartig ausziehbar ausgebildet. An seinem unteren Ende weist er eine übliche Lotstabspitze S auf. Der Lotstab 3 kann schließlich mit einem Längen-Messsystem, vorzugsweise einem Massstab M versehen sein, der eine Bestimmung des Abstandes h zwischen der Lotstabspitze S und dem Antennenzentrum A erlaubt.Furthermore, the plumb baton 3 is preferably telescopic. At its lower end, it has a conventional solder rod tip S. The pole 3 can finally be provided with a length measuring system, preferably a scale M, which allows a determination of the distance h between the tip S and the antenna center A.

Der im Beispiel direkt unter dem Empfänger 1 angeordnete Distanzmesser 2 ermöglicht Streckenmessungen zu entfernten Punkten, z.B. zu dort angebrachten Reflektoren. Im Beispiel nach Fig. 2 stellt Punkt 6 einen solchen entfernten Punkt dar. Die Distanzmessung kann aber auch nach anderen berührungslosen Verfahren ohne Verwendung eines Zielreflektors vorgenommen werden.The distance meter 2 arranged directly under the receiver 1 in the example enables distance measurements to distant points, e.g. to reflectors attached there. In the example according to FIG. 2, point 6 represents such a distant point. However, the distance measurement can also be carried out according to other contactless methods without using a target reflector.

Ein einzumessender Punkt 6 wird mit der Visiereinrichtung 5 angezielt, wobei gleichzeitig der lotrechte Stand des Gerätes in der Visiereinrichtung kontrolliert wird. Für geneigte Visuren wird der Distanzmesser 2 um die Horizontalachse H gekippt, wobei diese Drehung vom Winkelgeber oder Neigungsmesser alpha erfasst wird. Mit dieser Hilfe wird die gemessene Schrägstrecke auf den Horizont reduziert.A point 6 to be measured is aimed with the sighting device 5, the vertical position of the device in the sighting device being checked at the same time. For inclined sightings, the distance meter 2 is tilted about the horizontal axis H, this rotation being detected by the angle encoder or inclinometer alpha. With this help, the measured inclined distance is reduced to the horizon.

Befindet sich der einzumessende Punkt 6 nicht im direkten Sichtbereich der Satelliten, wird z.B. eine Messeinheit 1-5 nacheinander in der Nähe des zu vemessenden Punktes 6 an mindestens zwei verschiedenen vom Satellitensystem erreichbaren Hilfspunkten 7, 8 aufgestellt. Von diesen Hilfspunkten aus werden die Strecken 9 und 10 zu dem für das Satellitensystem unzugänglichen Punkt 6 im Beispiel elektrooptisch bestimmt. Mittels Bogenschlagverfahrens lassen sich dann die Koordinaten des einzumessenden Punktes eindeutig ermitteln. Stehen zwei Messeinheiten zur Verfügung, wird je eine von ihnen an den Hilfspunkten 7 und 8 aufgestellt und die Messung im übrigen auf die beschriebene Weise durchgeführt.If the point 6 to be measured is not in the direct field of view of the satellites, a measuring unit 1-5, for example, is set up in succession in the vicinity of the point 6 to be measured at at least two different auxiliary points 7, 8 which can be reached by the satellite system. From these auxiliary points, routes 9 and 10 to point 6, which is inaccessible to the satellite system, are determined electro-optically in the example. The arches can then be used to create the Clearly determine the coordinates of the point to be measured. If two measuring units are available, one of them is set up at auxiliary points 7 and 8 and the measurement is carried out in the manner described above.

Mit dem beschriebenen Verfahren ist es möglich, "quasi-kinematische" Messungen, also Messungen, die jeweils in Perioden von einigen Sekunden'abgeschlossen sind, durch zusätzliche Streckenmessungen geometrisch zu stützen, indem die Position der Messeinheit über Rückwärtsschnittverfahren bestimmt werden kann.With the described method it is possible to geometrically support "quasi-kinematic" measurements, that is to say measurements that are each completed in periods of a few seconds, by additional distance measurements, in that the position of the measuring unit can be determined using backward cutting methods.

Claims (4)

  1. Surveying instrument with a receiver (1) for a satellite position measurement system with a distance measuring device 12), preferably measuring contactlessly, for geodetical determination of measurement points (6), characterised thereby that the satellite receiver (1) and the distance measuring device (2) are arranged in geometrically unambiguously defined relative position with respect to each other on a common plumb rod (3), which distance measuring device (2) is constructed to be tiltable and in addition a sighting equipment (5) for the sighting of the measurement point (6) as well as a verticality sensor (4) for the setting up of the vertical direction of the measuring instrument are provided.
  2. Surveying instrument according to claim 1, characterised thereby that the plumb rod (3) is equipped with a length measuring system (M) for determination of the distance (h) between the tip (S) of the plumb rod and the antenna centre (A) of the satellite receiver (1).
  3. Surveying instrument according to claim 1, characterised thereby that the satellite receiver (1) and the distance measuring device (2) are each constructed with an interface for data and/or command transmission.
  4. Method for the determination of a measurement point (6), which is not disposed in direct visual range, with a surveying instrument according to claim 1, characterised thereby that at least two auxiliary points (7, 8), which are disposed in the reception range of the satellite, are measured, wherein the measuring point (6) is sighted from each auxiliary point (7, 8) by the sighting equipment (5) and at the same time the vertical state of the measuring system is checked by the verticality sensor (4) and the respective distance of the auxiliary points (7, 8) to the measurement point (6) is determined and the position of the measurement point (6) is ascertained by computer from these ascertained values.
EP89907139A 1988-07-06 1989-06-20 Surveying instrument with receiver for a satellite position measurement system and process for operating it Expired - Lifetime EP0403585B1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
AT89907139T ATE85703T1 (en) 1988-07-06 1989-06-20 SURVEYING DEVICE WITH RECEIVER FOR SATELLITE POSITION MEASUREMENT SYSTEM AND METHOD OF ITS OPERATION.

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CH2569/88 1988-07-06
CH2569/88A CH674898A5 (en) 1988-07-06 1988-07-06

Publications (2)

Publication Number Publication Date
EP0403585A1 EP0403585A1 (en) 1990-12-27
EP0403585B1 true EP0403585B1 (en) 1993-02-10

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EP89907139A Expired - Lifetime EP0403585B1 (en) 1988-07-06 1989-06-20 Surveying instrument with receiver for a satellite position measurement system and process for operating it

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US (1) US5077557A (en)
EP (1) EP0403585B1 (en)
JP (1) JP2874776B2 (en)
CH (1) CH674898A5 (en)
WO (1) WO1990000718A1 (en)

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US5077557A (en) 1991-12-31
JPH03500334A (en) 1991-01-24
CH674898A5 (en) 1990-07-31
JP2874776B2 (en) 1999-03-24
EP0403585A1 (en) 1990-12-27

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